JP2022124657A - Display method, display terminal, and display program - Google Patents

Abstract

To provide a display method, a display terminal, and a display program capable of displaying work information corresponding to a display item suitable for a user on a display terminal.SOLUTION: A display method executes the steps of: causing a preset first display area of a display unit to display map information including at least a current position of a work vehicle; causing a preset second display area of the display unit to display a display item representing the current work situation of the work vehicle; and replacing the first display item representing the first work situation displayed in the second display area with a second display item representing a second work situation.SELECTED DRAWING: Figure 1

Description

The present invention relates to a display method, a display terminal, and a display program for displaying information related to work by a work vehicle on a display section of a display terminal.

2. Description of the Related Art Conventionally, there has been known a system that allows a user to grasp the work status of a work vehicle that autonomously travels in a field, using a display terminal. For example, in Patent Document 1, a display terminal displays a preset traveling route (target route) of a working vehicle and the current position of the traveling working vehicle superimposed on a map. A system is disclosed that can display the amount of deviation from the current position. In this way, the display terminal can display various display items representing the current work status of the work vehicle.

JP 2018-147161 A

Here, the display terminal may be commonly used in a plurality of work vehicles of different types, such as tractors, combine harvesters, and rice transplanters. In this case, for example, if the display items displayed on the display terminal are uniformly set, the display items may be unnecessary for the user depending on the type of work vehicle. In addition, since the display area (size) of the display unit of the display terminal is limited and the number of display items that can be displayed is limited, all display items corresponding to all types of work vehicles are listed on the display unit. It is also difficult to display. Thus, with the conventional technology, it is difficult to cause the display terminal to display the work information corresponding to the display items suitable for the user.

An object of the present invention is to provide a display method, a display terminal, and a display program capable of displaying work information corresponding to display items suitable for a user on a display terminal.

A display method according to the present invention is a display method for displaying information about work by a work vehicle on a display unit of a display terminal. The display method includes displaying map information including at least the current position of the work vehicle in a preset first display area of the display unit, and displaying map information including at least the current position of the work vehicle in a preset second display area of the display unit. display items representing the current work situation of the work vehicle; and displaying the first display item representing the first work situation displayed in the second display area to the second display item representing the second work situation. and switching to a display item.

A display terminal according to the present invention is a display terminal that causes a display unit to display information about work performed by a work vehicle. The display terminal includes a first display processing section, a second display processing section, and a switching processing section. The first display processing unit causes map information including at least the current position of the work vehicle to be displayed in a preset first display area of the display unit. The second display processing unit displays a display item representing a current work situation of the work vehicle in a preset second display area of the display unit. The switching processing unit switches a first display item representing a first work situation displayed in the second display area to a second display item representing a second work situation.

A display program according to the present invention is a display program that causes a display unit of a display terminal to display information about work performed by a work vehicle. The display program displays map information including at least the current position of the work vehicle in a preset first display area of the display unit, and displays a preset second display area of the display unit. display items representing the current work situation of the work vehicle; and displaying the first display item representing the first work situation displayed in the second display area to the second display item representing the second work situation. A program for causing one or more processors to switch to a display item.

ADVANTAGE OF THE INVENTION According to this invention, the display method, display terminal, and display program which can display the work information corresponding to the display item suitable for a user on a display terminal can be provided.

FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the invention. FIG. 2 is an external view showing an example of a working vehicle (tractor) according to an embodiment of the present invention. FIG. 3 is a diagram showing an example of a travel route of the work vehicle according to the embodiment of the present invention. FIG. 4 is a diagram showing an example of a menu screen displayed on the operating terminal according to the embodiment of the present invention. FIG. 5 is a diagram showing an example of display item information corresponding to tractors, which is used in the operation terminal according to the embodiment of the present invention. FIG. 6A is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention; FIG. 6B is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention; FIG. 6C is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention; FIG. 6D is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention; FIG. 7 is a diagram showing an example of screen transition of display items displayed on the operation terminal according to the embodiment of the present invention. FIG. 8 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 9 is a flow chart showing an example of the procedure of display processing executed by the operating terminal according to the embodiment of the present invention. FIG. 10A is a diagram showing an example of display item information corresponding to a combine harvester, which is used in the operation terminal according to the embodiment of the present invention. FIG. 10B is a diagram showing an example of display item information corresponding to rice transplanters, which is used in the operation terminal according to the embodiment of the present invention. FIG. 11A is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention; 11B is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention; FIG. 12A is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention; FIG. 12B is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention; FIG. FIG. 13 is a diagram showing an example of a selection screen displayed on the operating terminal according to the embodiment of the present invention.

The following embodiments are specific examples of the present invention, and do not limit the technical scope of the present invention.

As shown in FIGS. 1 and 2, an automatic traveling system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. As shown in FIG. The work vehicle 10 and the operation terminal 20 can communicate via the communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone network, a packet network, or a wireless LAN. The automatic traveling system 1 is a system for automatically traveling a working vehicle 10 within a working area (for example, the field F in FIG. 3).

The work vehicle of the present invention is a vehicle such as a tractor, a combine harvester, a rice transplanter, or the like, which performs specific work in a work area (farm field F). In this embodiment, a case where the work vehicle 10 is a tractor will be described as an example. The work vehicle 10 is hereinafter referred to as a "tractor 10". Further, examples in which the work vehicle 10 is a combine harvester or a rice transplanter will be described later.

The tractor 10 is a so-called robot tractor having a configuration capable of automatically traveling (autonomously traveling) along a preset traveling route R (an inner peripheral route Ra and an outer peripheral route Rb) in a field F (see FIG. 3). . For example, the tractor 10 can automatically travel along a travel route R generated in advance for the field F based on the position information of the current position of the tractor 10 measured by the positioning device 16 .

For example, the tractor 10 reciprocates in parallel on the inner circumference route Ra from the work start position S and travels in a spiral toward the work end position G on the outer circumference route Rb in the work area of the field F shown in FIG. The travel route R is not limited to the route shown in FIG. 3, and is appropriately set according to the work content.

The operation terminal 20 causes a display unit to display various kinds of information about the work performed by the tractor 10, and receives user (operator) operations to execute processing according to the operations. For example, the user operates the operation terminal 20 to set information necessary for automatic traveling or to output an automatic traveling start instruction to the tractor 10 . Further, the operation terminal 20 causes the operation display unit 23 (the display unit of the present invention) to display information such as the work situation and the traveling situation of the tractor 10 during automatic travel. A user can grasp the work status and the running status on the operation terminal 20 . The operation terminal 20 is an example of the display terminal of the present invention.

[Tractor 10]
As shown in FIGS. 1 and 2, the tractor 10 includes a vehicle control device 11, a storage unit 12, a travel device 13, a working machine 14, a communication unit 15, a positioning device 16, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the traveling device 13, the working machine 14, the positioning device 16, and the like. Note that the vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

The communication unit 15 connects the tractor 10 to the communication network N1 by wire or wirelessly, and performs data communication according to a predetermined communication protocol with an external device such as the operation terminal 20 via the communication network N1. Communication interface.

The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores a control program such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic running program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12 . Note that the automatic driving program may be downloaded from a server (not shown) to the tractor 10 via the communication network N1 and stored in the storage unit 12 . The storage unit 12 also stores data (route data) of the travel route R generated by the operation terminal 20 .

The traveling device 13 is a drive unit that causes the tractor 10 to travel. As shown in FIG. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, and the like. The front wheels 132 and the rear wheels 133 are provided on the left and right sides of the tractor 10, respectively. Further, the traveling device 13 is not limited to a wheel type having the front wheels 132 and the rear wheels 133, and may be a crawler type having crawlers provided on the left and right sides of the tractor 10.

The engine 131 is a driving source such as a diesel engine or a gasoline engine that is driven using fuel replenished in a fuel tank (not shown). The travel device 13 may be provided with an electric motor as a drive source together with the engine 131 or instead of the engine 131 . A generator (not shown) is connected to the engine 131 , and electric power is supplied from the generator to electric components such as the vehicle control device 11 provided in the tractor 10 , a battery, and the like. The battery is charged with power supplied from the generator. Electric parts such as the vehicle control device 11 and the positioning device 16 provided in the tractor 10 can be driven by electric power supplied from the battery even after the engine 131 is stopped.

The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135 and to the rear wheels 133 via the transmission 134 and the rear axle 136 . The driving force of the engine 131 is also transmitted to the work implement 14 via the PTO shaft 19 . When the tractor 10 automatically travels, the traveling device 13 performs traveling operation according to a command from the vehicle control device 11 .

The working machine 14 is, for example, a cultivator, a sowing machine, a lawn mower, a plow, a fertilizing machine, or the like, and is attachable to and detachable from the tractor 10 . Thereby, the tractor 10 can perform various types of work using each of the work implements 14 . FIG. 2 shows an example in which the working machine 14 is a tiller.

The handle 137 is an operation unit operated by an operator or the vehicle control device 11 . For example, in the travel device 13 , the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in accordance with the operation of the steering wheel 137 by the vehicle control device 11 , thereby changing the traveling direction of the tractor 10 .

In addition to the steering wheel 137 , the travel device 13 includes a shift lever, an accelerator, a brake, and the like (not shown) operated by the vehicle control device 11 . In the travel device 13, the gear of the transmission 134 is switched to forward gear or reverse gear according to the operation of the shift lever by the vehicle control device 11, and the travel mode of the tractor 10 is switched to forward or reverse. Further, the vehicle control device 11 controls the rotation speed of the engine 131 by operating the accelerator. Further, the vehicle control device 11 operates the brakes to brake the rotation of the front wheels 132 and the rear wheels 133 using electromagnetic brakes.

The positioning device 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2, the positioning device 16 is provided above a cabin 18 in which an operator boards. Also, the installation location of the positioning device 16 is not limited to the cabin 18 . Furthermore, the positioning control unit 161 , the storage unit 162 , the communication unit 163 and the positioning antenna 164 of the positioning device 16 may be distributed and arranged at different positions in the tractor 10 . As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. Also, as the positioning device 16, for example, a mobile phone terminal, a smart phone, a tablet terminal, or the like may be substituted.

The communication unit 163 connects the positioning device 16 to the communication network N1 by wire or wirelessly, and performs data communication according to a predetermined communication protocol with an external device such as a base station server via the communication network N1. communication interface.

The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

The positioning control unit 161 is a computer system that includes one or more processors and storage memory such as nonvolatile memory and RAM. The storage unit 162 is a non-volatile memory or the like that stores a control program for causing the positioning control unit 161 to perform positioning processing, and data such as positioning information and movement information. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 162 . Note that the control program may be downloaded from a server (not shown) to the positioning device 16 via the communication network N1 and stored in the storage unit 162 .

The positioning control unit 161 calculates the position (current position) of the tractor 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the tractor 10 automatically travels in the field F, when the positioning antenna 164 receives radio waves (transmission time, orbit information, etc.) transmitted from each of a plurality of satellites, the positioning control unit 161 controls the positioning The distance between the antenna 164 and each satellite is calculated, and the current position (latitude and longitude) of the tractor 10 is calculated based on the calculated distance. In addition, the positioning control unit 161 calculates the current position of the tractor 10 using correction information corresponding to a base station (reference station) close to the tractor 10, a real-time kinematic method (RTK-GPS positioning method (RTK method)). may be used for positioning. In this way, the tractor 10 automatically travels using positioning information based on the RTK method, for example.

The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various kinds of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or nonvolatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The vehicle control device 11 controls the tractor 10 by causing the CPU to execute various control programs pre-stored in the ROM or storage unit 12 .

Specifically, the vehicle control device 11 causes the tractor 10 to automatically travel based on position information indicating the position of the tractor 10 measured by the positioning control unit 161 . For example, when the positioning state becomes a high-precision state in which RTK positioning is possible (high-precision positioning is completed) and the user presses the start button on the operation terminal 20 , the operation terminal 20 outputs a work start instruction to the tractor 10 . Upon receiving the work start instruction from the operation terminal 20 , the vehicle control device 11 causes the tractor 10 to start automatically traveling based on the position information indicating the position of the tractor 10 measured by the positioning control unit 161 . As a result, the tractor 10 automatically starts traveling along the traveling route R (see FIG. 3), and the working machine 14 starts working. Note that the travel route R along which the tractor 10 travels is generated by the operation terminal 20, for example. The tractor 10 acquires the route data of the travel route R from the operation terminal 20 and automatically travels in the farm field F along the travel route R.

Further, the vehicle control device 11 stops the automatic travel of the tractor 10 when a travel stop instruction is received from the operation terminal 20 . For example, when the user presses a stop button on the operation terminal 20 , the operation terminal 20 outputs a travel stop instruction to the tractor 10 . When the vehicle control device 11 acquires a travel stop instruction from the operation terminal 20 , the vehicle control device 11 stops the automatic travel of the tractor 10 . As a result, the tractor 10 stops automatic traveling and stops the work by the work implement 14 .

Although illustration is omitted, the tractor 10 may further include an obstacle sensor and a camera. The obstacle sensor is a sensor that detects an obstacle in a predetermined detection area using infrared rays, ultrasonic waves, or the like. For example, the obstacle sensor may be a lidar sensor (distance sensor) that can three-dimensionally measure the distance to a measurement object (obstacle) using a laser, or a measurement object using ultrasonic waves. It may be a sonar sensor having multiple sonars capable of measuring distances to. The obstacle sensor is installed in the front part of the body of the tractor 10 and detects obstacles in front of the tractor 10 . The obstacle sensor transmits measurement information (measured distance) to the vehicle control device 11 .

Also, the camera is a digital camera that captures an image of a subject and outputs it as digital image data. The camera continuously images a subject at a predetermined frame rate, generates frame images with a predetermined resolution, and transmits the frame images to the vehicle control device 11 .

The vehicle control device 11 acquires measurement information from the obstacle sensor and acquires a captured image from the camera. When an obstacle is detected, the vehicle control device 11 causes the tractor 10 to avoid the obstacle or stop the tractor 10 so as not to come into contact with the obstacle. The vehicle control device 11 also outputs image data of the captured image acquired from the camera to the operation terminal 20 . When acquiring the image data, the operation terminal 20 displays the captured image on the operation screen.

[Operation terminal 20]
As shown in FIG. 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operation terminal 20 may be configured by a portable terminal such as a tablet terminal or a smartphone.

The communication unit 24 connects the operation terminal 20 to the communication network N1 by wire or wirelessly, and performs data communication according to a predetermined communication protocol with one or more external devices such as the tractor 10 via the communication network N1. It is a communication interface for execution.

The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various types of information, and an operation unit such as a touch panel, mouse, or keyboard that receives operations. An operator can set and register various types of information (working vehicle information, field information, work information, etc., which will be described later) by operating the operation unit on the operation screen displayed on the display unit. Further, the user can operate the operation unit to issue a work start instruction, a travel stop instruction, and the like to the tractor 10 . Further, the user can check the traveling status, work status, etc. of the tractor 10 automatically traveling along the traveling route R in the field F from the information displayed on the operation terminal 20 at a place away from the tractor 10. be. The operation display section 23 is an example of the display section of the present invention.

The storage unit 22 is a nonvolatile storage unit such as an HDD or SSD that stores various information. The storage unit 22 stores a control program such as a display program for causing the operation control unit 21 to execute display processing (see FIG. 9), which will be described later. For example, the display program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 22 . Note that the display program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22 .

The operation control unit 21 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various kinds of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or nonvolatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The operation control unit 21 controls the operation terminal 20 by causing the CPU to execute various control programs pre-stored in the ROM or storage unit 22 .

By the way, the operation terminal 20 may be commonly used in a plurality of work vehicles 10 of different types such as a tractor, a combine harvester, and a rice transplanter. Conventionally, in such a case, for example, if the display items displayed on the operation terminal 20 are uniformly set, depending on the type of the work vehicle 10, the display items may be unnecessary for the user. In addition, since the display area (size) of the display unit of the operation terminal 20 is limited and the number of display items that can be displayed is limited, all display items corresponding to all types of work vehicles can be displayed on the display unit. It is also difficult to list them. As described above, it is difficult for the conventional technology to cause the operation terminal 20 to display the work information corresponding to the display items suitable for the user. On the other hand, in the operation terminal 20 according to the present embodiment, it is possible to display work information corresponding to display items suitable for the user.

Specifically, as shown in FIG. 1, the operation control unit 21 includes a vehicle setting processing unit 211, a field setting processing unit 212, a work setting processing unit 213, a route generation processing unit 214, an output processing unit 215, a first display Various processing units such as a processing unit 216 , a second display processing unit 217 , a reception processing unit 218 and a switching processing unit 219 are included. The operation control unit 21 functions as the various processing units by executing various processing according to the control program by the CPU. Also, part or all of the processing unit may be configured by an electronic circuit. Note that the control program may be a program for causing a plurality of processors to function as the processing unit.

The vehicle setting processing unit 211 sets information about the tractor 10 (hereinafter referred to as work vehicle information). The vehicle setting processing unit 211 sets the type (model) of the tractor 10 , the position where the positioning antenna 164 is attached to the tractor 10 , the type of the working machine 14 , the size and shape of the working machine 14 , the working machine 14 with respect to the tractor 10 . The user sets the information such as the position, vehicle speed and engine speed during operation of the tractor 10, vehicle speed and engine speed during turning of the tractor 10, and the like by operating the operation terminal 20 for registration.

For example, when the user starts the engine 131 of the tractor 10 and turns on the power of the operation terminal 20, the first display processing unit 216 causes the operation display unit 23 to display the menu screen D1 shown in FIG. The user selects, for example, "work machine registration" to register work machine information about the work machine 14 .

The field setting processing unit 212 sets information about the field F (hereinafter referred to as field information). The field setting processing unit 212 registers information such as the position and shape of the field F, the work start position S at which work is started, the work end position G at which work is finished (see FIG. 3), the work direction, etc., in the operation terminal 20. The information is set by performing an operation. The working direction means the direction in which the tractor 10 travels while the working machine 14 is working in a working area, which is an area obtained by excluding non-working areas such as headland and non-cultivated land from the farm field F. For example, the user selects "field registration" on the menu screen D1 to register field information.

The information on the position and shape of the field F is obtained by, for example, recording the transition of the position information of the positioning antenna 164 when the user rides the tractor 10 and drives the tractor 10 around the circumference of the field F. can be obtained automatically. In addition, the position and shape of the field F are determined based on polygons obtained by the user operating the operating terminal 20 while the map is displayed on the operating terminal 20 to designate a plurality of points on the map. can also be obtained. The area specified by the acquired position and shape of the field F is an area (running area) in which the tractor 10 can travel.

The work setting processing unit 213 sets information (hereinafter referred to as work information) regarding how the work is to be performed. The work setting processing unit 213 includes, as work information, the presence or absence of cooperative work between the tractor 10 (unmanned tractor) and the manned tractor 10, the number of skips, which is the number of work paths to be skipped when the tractor 10 turns on a headland, It is configured to be able to set the width of the land, the width of the non-cultivated land, and the like. For example, the user selects "work area registration" on the menu screen D1 to register work information.

The route generation processing unit 214 generates a travel route R, which is a route along which the tractor 10 automatically travels, based on each of the setting information. The travel route R is, for example, a work route from the work start position S to the work end position G (see FIG. 3). The traveling route R shown in FIG. 3 includes an inner peripheral route Ra in which the tractor 10 travels back and forth in parallel in the inner region of the farm field F, and an outer peripheral route Rb in which the tractor 10 spirally travels in the outer region of the farm field F. including. The route generation processing unit 214 can generate and store the travel route R of the tractor 10 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213. can. For example, the user selects "generate route" on the menu screen D1 to issue an instruction to generate the travel route R.

The route generation processing unit 214 generates a travel route R (see FIG. 3) based on the work start position S and the work end position G registered in the field setting. Travel route R is not limited to the route shown in FIG. When the route generation processing unit 214 generates the travel route R, the output processing unit 215 transfers the route data of the travel route R to the tractor 10 .

The route data transferred from the operating terminal 20 are stored in the storage unit 12 of the tractor 10 . As a result, the tractor 10 can automatically travel along the travel route R while positioning the current position of the tractor 10 with the positioning device 16 . Note that the current position of the tractor 10 usually matches the position of the positioning antenna 164 .

In addition, the tractor 10 according to the present embodiment travels in a substantially rectangular agricultural field F as shown in FIG. The tractor 10 is configured so as to be able to automatically travel when the current position is inside the field F, and not to automatically travel when the current position is outside the field F (public roads, etc.). It is configured. Further, the tractor 10 is configured to be able to travel automatically on condition that the current position matches the work start position S, for example.

When the user presses the start button on the operation terminal 20 to give an instruction to start work, the tractor 10 automatically starts running by the vehicle control device 11 when the current position coincides with the work start position S. , the working machine 14 (see FIG. 2) starts working (for example, plowing work). That is, the tractor 10 permits automatic traveling on the condition that the current position matches the work start position S. In addition, the conditions for permitting the automatic traveling of the tractor 10 are not limited to the conditions described above.

When automatic travel of the tractor 10 is permitted, the vehicle control device 11 automatically travels the tractor 10 from the work start position S to the work end position G based on the travel route R. Further, the vehicle control device 11 may automatically travel from the work end position G to the exit of the field F when the tractor 10 finishes the work. In addition, the vehicle control device 11 periodically outputs various measured values (PTO rotation speed, vehicle speed, position information, etc.) to the operation terminal 20 while the tractor 10 is automatically traveling.

Here, when the tractor 10 is automatically traveling, the operation control unit 21 causes the operation display unit 23 of the operation terminal 20 to display the operation screen D2 (see FIG. 6A and the like). Specifically, when the route data is normally transferred from the operation terminal 20 to the tractor 10, the operation control section 21 causes the operation display section 23 to display the operation screen D2. Further, on the operation screen D2, the first display processing section 216 displays map information including at least the current position of the tractor 10 in the preset first display area A1 of the operation display section . Map information including the farm field F, the travel route R, the work start position S, the work end position G, and the current position of the tractor 10 is displayed on the operation screen D2 shown in FIG. 6A. In addition to the map information, the first display processing unit 216 may display function icons such as a magnification icon for changing the display magnification of the map and a direction icon for changing the direction of the map on the operation screen D2.

In addition, on the operation screen D2, the second display processing section 217 displays display items representing the current work status of the tractor 10 in the preset second display area A2 of the operation display section . The display items are display icons (notification icons) that correspond to items such as the drive status, vehicle speed status, and position status of the tractor 10, and display the current status (measured values, etc.) of each item. For example, the operation screen D2 shown in FIG. 6A includes a display item T1 representing the rotation speed of PTO (Power Take Off) of the tractor 10, a display item T2 representing the vehicle speed of the tractor 10, and a display representing the rotation speed of the engine 131 of the tractor 10. An item T3 and a display item T4 representing the height of the work implement 14 are displayed. The second display processing unit 217 sets the second display area A2 at a predetermined position on the operation screen D2, and displays as many display items as can be arranged in the second display area A2. For example, the second display processing unit 217 sets the position of the second display area A2 above the first display area A1 on the operation screen D2. The second display processing unit 217 also displays four display items T1 to T4 having a width W1 (see FIG. 7) side by side in the second display area A2. Note that the operation control unit 21 acquires the measured value to be displayed on each display item from the vehicle control device 11 of the tractor 10 .

The switching processing unit 219 switches the first display item representing the first work situation displayed in the second display area A2 to the second display item representing the second work situation. Specifically, the switching processing unit 219 causes the user to change the display item displayed (on display) in the second display area A2 to a position corresponding to the second display area A2 on the operation screen D2 of the operation display unit 23 . A switching icon K1 for accepting a switching operation for switching is displayed. For example, as shown in FIG. 6A, the switching processing unit 219 places a left switching icon K1, which is used when returning the displayed page, at a position adjacent to the left end of the second display area A2, and a right end of the second display area A2. , a right switching icon K1 is displayed at a position adjacent to . The switching icon K1 is a functional icon for accepting a switching operation from the user and executing a predetermined process. The positions of the second display area A2 and the switching icon K1 on the operation screen D2 are not limited to the positions shown in FIG. 6A. The switching icon K1 (right switching icon K1, left switching icon K1) is an example of a switching section of the present invention.

For example, as shown in FIG. 6A, when the user presses the right switching icon K1 on the operation screen D2, the acceptance processing unit 218 accepts the switching operation. When the reception processing unit 218 receives the switching operation, the switching processing unit 219 switches the display items displayed in the second display area A2. For example, the switching processing unit 219 switches and displays the display items T1 to T4 to the display items T5 and T6 in the second display area A2 (see FIG. 6B). The switching processing unit 219 arranges and displays two display items T5 and T6 each having a width W1 (see FIG. 7) in the second display area A2. The display item T5 is a display icon representing the load factor of the engine 131 of the tractor 10, and the display item T6 is a display icon representing the distance from the current position of the tractor 10 to the headland. Note that when the user presses the left switching icon K1 on the operation screen D2 shown in FIG. 6B, the switching processing unit 219 changes the display items T5 and T6 displayed in the second display area A2 to the original display items T1 to T4 ( 6A).

Further, when the user presses the right switching icon K1 on the operation screen D2 shown in FIG. 6B, the switching processing unit 219 switches and displays the display items T5 and T6 from the display items T5 and T6 to the display item T7 in the second display area A2 (FIG. 6C reference). The switching processing unit 219 displays one display item T7 with a width W3 (see FIG. 7) in the second display area A2. The display item T7 is a display icon representing the positional deviation amount (deviation amount) between the preset travel route R (target route of the present invention) and the travel route (current position) on which the tractor 10 is currently traveling. Note that when the user presses the left switching icon K1 on the operation screen D2 shown in FIG. 6C, the switching processing unit 219 changes the display item T7 displayed in the second display area A2 to the original display items T5 and T6 (FIG. 6B). ).

Further, when the user presses the right switching icon K1 on the operation screen D2 shown in FIG. 6C, the switching processing unit 219 switches the display item T7 to the display item T8 in the second display area A2 (see FIG. 6D). . The switching processing unit 219 displays one display item T8 with a width W4 (see FIG. 7) in the second display area A2. The display item T8 is a setting icon for correcting the travel route on which the tractor 10 is currently traveling. The user can set the correction amount by operating the display item T8. Note that when the user presses the left switching icon K1 on the operation screen D2 shown in FIG. 6D, the switching processing unit 219 changes the display item T8 displayed in the second display area A2 to the original display item T7 (see FIG. 6C). switch to Further, when the user presses the right switching icon K1 on the operation screen D2 shown in FIG. 6D, the switching processing unit 219 changes the display item T8 displayed in the second display area A2 to the first display items T1 to T4 (FIG. 6A). ).

In this manner, the user can switch the display contents of the second display area A2 by selecting the switching icon K1 on the operation screen D2 as if turning pages. That is, as shown in FIG. 7, the operation terminal 20 includes a page P1 including display items T1 to T4, a page P2 including display items T5 and T6, a page P3 including display item T7, and a display item T8. The page P4 is provided, and the pages P1 to P4 are sequentially switched according to the user's selection operation of the switching icon K1 (here, the right switching icon K1). This enables the user to display work information of desired display items on the operation terminal 20 .

Each time the user presses the right switching icon K1, the switching processing unit 219 switches the display items in the order of pages P1, P2, P3, P4, P1, . . . Each time the button is pressed, the display items are switched in the order of pages P1, P4, P3, P2, P1, . As another embodiment, the switching processing unit 219 may switch so that all the display items T1 to T8 are scroll-displayed in the width direction within the second display area A2. In the above-described embodiment, the switching processing unit 219 switches the page P4 to the page P1 when the user presses the right switching icon K1 while the page P4 is displayed, and the display items of the page P1 are displayed. In another embodiment, the switching processing unit 219 switches the page P1 to the page P4 when the user presses the left switching icon K1 while the page P4 is displayed. A configuration may be adopted in which the page P4 is not switched when K1 is pressed, and the page P1 is not switched when the user presses the left switching icon K1 while the page P1 is displayed. That is, the switching processing unit 219 may be configured to switch pages P1 to P4 back and forth from the first page P1 to the last page P4.

In order to enable such display switching processing, the storage unit 22 stores data of the display item information Dt. FIG. 5 shows an example of the display item information Dt.

As shown in FIG. 5, the display item information Dt includes information such as "display item ID", "display item name", "width", and "page" for each display item. The display item ID is identification information of the display item, and the display item name is the name of the display item. The width is the width of the display icon image corresponding to the display item. The page is identification information of a page displaying display items. The image data of the display icon image corresponding to the display item is stored in the storage unit 22 in association with the display item ID.

In the example shown in FIG. 5, display item IDs "T001" to "T008" correspond to display items T1 to T8, respectively. Since the display item IDs "T001" to "T004" are associated with the page P1, the display items T1 to T4 are displayed on the same page P1 in the second display area A2 (see FIG. 6A). Since the display item IDs "T005" and "T006" are associated with the page P2, the display items T5 and T6 are displayed on the same page P2 in the second display area A2 (see FIG. 6B). Since the display item ID "T007" is associated with the page P3, the display item T7 is displayed on the page P3 in the second display area A2 (see FIG. 6C), and the display item ID "T008" is displayed on the page P4. , the display item T8 is displayed on the page P4 in the second display area A2 (see FIG. 6D). The number of display items registered in the display item information Dt is not limited, and may be less than eight or may be eight or more.

Further, for example, the display items T1 to T6 corresponding to the display item IDs "T001" to "T006" display the working state (working status) of the work vehicle, working machine, etc., and the display item ID "T0007" is displayed. The display item T7 corresponding to displays the relationship between the travel route and the work vehicle, and the display item T8 corresponding to the display item ID "T0008" displays items (setting items) that can be operated by the user. It is. The display items of the present invention are not limited to the above examples, and can be appropriately set according to the type of work vehicle 10 .

Here, a width is set for each display item. For example, width W1 is set for display item IDs "T001" to "T006", width W3 is set for display item ID "T007", and width W4 is set for display item ID "T008". A width W0 (see FIG. 7) is set in advance in the second display area A2. Here, the relationship of width W1<width W3<width W4<width W0 is satisfied. For example, when the display items T1 to T4 having the width W1 are arranged side by side in the second display area A2 and the overall width (≈W1×4) is smaller than the width W0, the operation control unit 21 displays the display items T1 to T4. Associate identical pages to . Further, the operation control unit 21 controls the display items T5 and T6 having the width W1 when the display items T5 and T6 having the width W1 are arranged side by side in the second display area A2, and the blank area AS2 (see FIG. 7) corresponding to the width W2 (≈W1×2) is generated. may be added with a display item of width W1 or width W2 and associated with the same page as display items T5 and T6. Similarly, if a blank area AS1 (see FIG. 7) corresponding to the width W1 is generated when the display item T7 with the width W3 is arranged in the second display area A2, the operation control unit 21 displays the display item with the width W1. may be added to associate the same page as the display item T7.

The second display processing unit 217 refers to the display item information Dt stored in the storage unit 22, and displays the display items T1 to T4 of the display item IDs “T001” to “T004” associated with the page P1 as the second display. It is displayed in area A2 (see FIG. 6A). In this way, the second display processing unit 217 displays the number of display items that can be arranged in the width direction in the second display area A2.

Further, when the user presses the right switching icon K1 on the operation screen D2 (see FIG. 6A), the switching processing unit 219 refers to the display item information Dt stored in the storage unit 22, and displays a display associated with the page P2. Display items T5 and T6 with item IDs "T005" and "T006" are displayed in the second display area A2 (see FIG. 6B). In this way, the switching processing unit 219 refers to the display item information Dt and repeatedly switches the display items in the order of pages P1 to P4 (see FIG. 7). In this way, the switching processing unit 219 switches the display items currently displayed in the second display area A2 to the number of display items that can be arranged in the width direction.

The display item information Dt is preset by the user and stored in the storage unit 22 . Note that the user can change the display item information Dt as appropriate. For example, when the user performs an operation to select a display item to be displayed on each page (for example, pages P1 to P4), the operation control unit 21 sets the display item information Dt in accordance with the selection operation, and sets the display item information Dt to the storage unit. 22 may be stored. In addition, the user can change the display items of each page and assign desired display items to the blank areas AS1 and AS2. The display item information Dt corresponding to the tractor 10 includes at least a display item (here, display item T1) representing a measured value (for example, rotation speed) related to the PTO.

In this way, the operation control unit 21 causes the storage unit 22 to store information about display items selected by the user, and refers to the storage unit 22 when displaying the work status of the tractor 10 to display predetermined display items. (eg, display items T1 to T4 of page P1) are displayed in the second display area A2. Thereby, the second display processing unit 217 can display the display item selected by the user in the second display area A2. Further, the switching processing unit 219 can switch the display items of the second display area A2 to the display items selected by the user.

As another embodiment, the storage unit 22 may store a plurality of pieces of display item information Dt corresponding to the work content of the tractor 10 . For example, the operation control unit 21 may set the display item information Dt for each type of work machine 14 (cultivator, sowing machine, lawn mower, plow, fertilizer, etc.) and store it in the storage unit 22 . In this case, the operation control unit 21 refers to the display item information Dt corresponding to the type of the work machine 14 selected by the user in the work machine information registration process (“Work machine registration” in FIG. 4), and performs the second A display item is displayed in the display area A2, or the display item is switched. For example, when the mower is attached to the tractor 10 and mowing work is performed, the operation control unit 21 displays display items corresponding to mowing work (an example of the content of the first work of the present invention) in the second display area A2. Let Thus, the display items of the present invention include a plurality of display items corresponding to the work content of the work vehicle (for example, the tractor 10). Display the corresponding display item.

As another embodiment, only one switching icon K1 may be provided as shown in FIG. For example, the switching processing unit 219 displays a switching icon K1 in which "display switching" is text-displayed at a position adjacent to the right end of the second display area A2. Then, the switching processing unit 219 switches the display items displayed in the second display area A2 each time the user presses the switching icon K1. For example, the switching processing unit 219 repeatedly switches display items in the order of pages P1 to P4 each time the user presses the switching icon K1 (see FIG. 7).

As described above, the display items displayed in the second display area A2 of the operation screen D2 corresponding to the tractor 10 include only display items (for example, display items T1 to T4) corresponding to the work content of the tractor 10. Instead, it may include display items (eg, display items T5 to T8) corresponding to work contents common to other work vehicles 10 (eg, combine harvester, rice transplanter, etc.). Display items common to the plurality of types of work vehicles 10 include at least a display item representing the amount of deviation.

As described above, the operation control unit 21 is capable of receiving information such as the traveling condition and work condition of the tractor 10 from the tractor 10 and displaying the information on the operation display unit 23 .

The operation control unit 21 executes the following processes in addition to the above processes. For example, the first display processing unit 216 includes a menu screen D1 (see FIG. 4), a registration screen (not shown) for registering work vehicle information, field information, work information, etc., and an operation screen D2 ( 6A, etc.) is displayed on the operation display unit 23 .

The reception processing unit 218 also receives from the user a work start instruction for starting work on the tractor 10 and a travel stop instruction for stopping travel of the tractor 10 during automatic travel. When the reception processing unit 218 receives each instruction, the output processing unit 215 outputs each instruction to the tractor 10 .

When the vehicle control device 11 of the tractor 10 receives the work start instruction from the operation terminal 20, the tractor 10 starts traveling and working. Further, when the vehicle control device 11 acquires a travel stop instruction from the operation terminal 20 , the vehicle control device 11 stops the travel and work of the tractor 10 .

Note that the operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21 . The server includes each processing unit described above and executes each process.

[Display processing]
An example of the display process executed by the operation control unit 21 of the operation terminal 20 will be described below with reference to FIG. For example, the display process is started by the operation control unit 21 when the engine 131 of the tractor 10 is started and the power of the operation terminal 20 is turned on.

In addition, the present invention is an invention of a display method in which the operation control unit 21 executes part or all of the display processing, or a display program for causing the operation control unit 21 to execute part or all of the display method. You can think of it as an invention. Further, the present invention may be a display method invention in which one or more processors execute the display processing.

In step S1, the vehicle control device 11 of the tractor 10 starts the engine 131 of the tractor 10 according to the user's engine start operation. When the engine 131 is started, the positioning control unit 161 executes orientation recognition processing (initialization). Further, the operation control unit 21 of the operation terminal 20 turns on the power of the operation terminal 20 according to the user's power-on operation, and causes the operation display unit 23 of the operation terminal 20 to display the menu screen D1 (see FIG. 4).

Next, in step S2, the operation control section 21 registers various setting information. Specifically, the operation control unit 21 registers the work vehicle information, the field information, the work information, and the travel route information (travel route R) based on the user's setting operation (see FIG. 4).

Next, in step S<b>3 , the operation control unit 21 transfers the route data of the generated travel route R to the tractor 10 . The vehicle control device 11 of the tractor 10 stores the route data acquired from the operation terminal 20 in the storage unit 12 .

Next, in step S4, the operation control unit 21 causes the operation display unit 23 of the operation terminal 20 to display an operation screen D2 (see FIG. 6A) that displays work information and the like. Further, the operation control unit 21 displays map information including the current position of the tractor 10 in the first display area A1 of the operation screen D2, and display items representing the current work status of the tractor 10 in the second display area A2. display. For example, the operation control unit 21 refers to the display item information Dt (see FIG. 5) of the storage unit 22, and displays the display items T1 to T4 associated with the page P1 in the second display area A2 (see FIG. 6A). ).

For the sake of convenience, the operation screen D2 shown in FIG. 6A exemplifies the state after the start of automatic driving (during automatic driving). The measured value of each display item becomes the initial value.

Next, in step S5, the operation control unit 21 determines whether or not an operation for starting automatic running has been received from the user. For example, when the current position of the tractor 10 matches the work start position S, the operation control unit 21 receives an operation (pressing the start button) from the user to start automatic traveling on the operation screen D2. The operation control unit 21 outputs a work start instruction to the tractor 10 when receiving an automatic travel start operation (S5: Yes). After that, the process moves to step S6. On the other hand, if the operation to start automatic travel is not accepted, the operation control unit 21 waits until the operation to start automatic travel is accepted (S5: No).

In step S6, the vehicle control device 11 of the tractor 10 causes the tractor 10 to automatically travel along the travel route R based on the position information determined by the RTK method. In addition, the vehicle control device 11 outputs to the operation terminal 20 information on various measurement values (PTO rotation speed, vehicle speed, engine rotation speed, etc.) measured during automatic travel.

Next, in step S7, the operation control unit 21 determines whether or not a switching operation for switching display items displayed in the second display area A2 of the operation screen D2 has been received from the user. For example, when the user wants to check the current engine load factor of the tractor 10, or when he wants to check the distance from the current position of the tractor 10 to the headland, the user presses the switch icon K1 (right switch icon K1) on the operation screen D2. (See FIG. 6A). If the operation control unit 21 has received the user's switching operation (S7: Yes), the process proceeds to step S71. On the other hand, if the operation control unit 21 does not accept the user's switching operation (S7: No), the process proceeds to step S8.

In step S8, the vehicle control device 11 determines whether or not the tractor 10 has completed the work. If the tractor 10 has finished its work (S8: Yes), the display process ends. On the other hand, if the tractor 10 has not completed the work (S8: No), the process returns to step S6, and the tractor 10 continues automatic travel.

In step S71, the operation control section 21 switches the display items displayed in the second display area A2 of the operation screen D2. For example, when the user presses the switch icon K1 (right switch icon K1) on the operation screen D2 (see FIG. 6A), the operation control unit 21 changes the display items T1 to T4 corresponding to the page P1 being displayed in the second display area A2. to display items T5 and T6 corresponding to page P2 (see FIG. 5) (see FIG. 6B). For example, when the user presses the left switching icon K1 on the operation screen D2 (see FIG. 6A), the operation control unit 21 switches from the display items T1 to T4 corresponding to the page P1 being displayed in the second display area A2. , to display item T8 corresponding to page P4 (see FIG. 6D). After that, the process returns to step S7.

Returning to step S7, when the user again presses the right switching icon K1 (S7: Yes), the operation control unit 21 switches from the display items T5 and T6 corresponding to the page P2 being displayed in the second display area A2 to the page The display item T7 corresponding to P3 (see FIG. 5) is switched and displayed (see FIG. 6C) (S71). Further, when the user presses the left switching icon K1 (S7: Yes), the operation control unit 21 selects the original page P1 from the display items T5 and T6 corresponding to the page P2 being displayed in the second display area A2. The display items T1 to T4 are switched and displayed (see FIG. 6A) (S71). In this way, the user can display desired display items by switching the display items on the operation screen D2 of the operation terminal 20 from the time the tractor 10 starts to automatically travel to the time the work is completed, thereby indicating the work situation, You can check the driving status. The operation control unit 21 executes the display processing as described above.

As described above, the operation terminal 20 according to the present embodiment causes the operation display section 23 of the operation terminal 20 to display information about the work performed by the tractor 10 . In addition, the operation terminal 20 displays map information including at least the current position of the tractor 10 in a preset first display area A1 of the operation display section 23, and displays a preset second display area A1 of the operation display section 23. Display items representing the current work status of the tractor 10 are displayed in the display area A2. Further, the operation terminal 20 switches the first display item representing the first work situation displayed in the second display area A2 to the second display item representing the second work situation.

For example, when the operation terminal 20 receives a user's switching operation to switch the display item when the first display item representing the first work situation (for example, PTO rotation speed) is displayed in the second display area A2, , the first display item is switched to a second display item representing a second work situation (for example, engine load factor). The operation terminal 20 causes the operation display section 23 to display a switching icon K1 (switching section) for receiving the switching operation of the user.

According to the above-described configuration, the user can display desired display items on the operation terminal 20 while the tractor 10 is automatically traveling to check the work status, traveling status, and the like. In addition, since the user can switch display items simply by selecting the switch icon K1 displayed on the operation screen D2 of the operation terminal 20, the operability and convenience of the operation terminal 20 can be improved.

Furthermore, the user can select the display items to be displayed in the second display area A2 (default display items) when automatic driving starts, the display order (switching order) of the display items to be displayed in the second display area A2, A combination of display items when a plurality of items are collectively displayed on the screen can be set in advance, and the set information (display item information Dt (see FIG. 5)) can be stored in the storage unit 22 . The user can also update the display item information Dt as appropriate. Then, the operation control unit 21 can refer to the display item information Dt to specify the display items to be displayed in the second display area A2.

[Other embodiments]
The present invention is not limited to the above-described embodiments, and may be the embodiments shown below.

In the above-described embodiment, the operation control unit 21 of the operation terminal 20 switches the display items being displayed in the second display area A2 on condition that the user's switching operation is accepted. As another embodiment, when the first display item corresponding to the first work situation is displayed in the second display area A2, the operation control unit 21 determines that the measured value corresponding to the second work situation is out of the allowable range. , the first display item may be switched to the second display item. For example, when the display items T1 to T4 are displayed in the second display area A2, the operation control unit 21 determines that the amount of deviation between the target route of the tractor 10 and the current travel route is out of the preset allowable range. When the deviation amount is exceeded (when the threshold is exceeded), the display items T1 to T4 are switched to the display item T7 representing the amount of deviation. In this manner, when the measured value of the display item not displayed in the second display area A2 falls outside the allowable range, the operation control unit 21 controls the display item being displayed in the second display area A2 so that the measured value does not exceed the allowable range. It may be possible to automatically switch to the display item that is out of the allowable range. This can alert the user.

Further, when the measured value of a display item is out of the allowable range, the operation control section 21 may change the display mode of the display item on the operation screen D2. For example, the operation control unit 21 may light or blink the display icon image of the display item whose measured value is outside the allowable range on the operation screen D2.

In the above-described embodiment, the work vehicle 10 is a tractor, but the work vehicle 10 may be a combine harvester, a rice transplanter, or the like.

For example, when the work vehicle 10 is a combine harvester, the operation control unit 21 refers to the display item information Dc corresponding to the combine harvester, and displays display items in the second display area A2. FIG. 10A shows an example of the display item information Dc. The display item information Dc includes information on a plurality of display items according to the work content of the combine (for example, harvesting work). For example, a combine temporarily stores harvested crops in tanks mounted on the combine. If the capacity of said tank exceeds a threshold, the combine will not be able to continue harvesting. For this reason, the user needs to check the current storage capacity in the tank (or the empty capacity of the tank) and the working conditions such as the reaping travelable distance. Therefore, in the display item information Dc, as display items corresponding to the work content of the combine harvester, a display item C1 (display item ID "C001") representing the current storage capacity, and a display item C2 (display item ID "C001") representing the current reaping travelable distance display item ID "C002") is registered.

In addition, the display item information Dc may include display items (eg, display items C3 to C6) corresponding to work contents common to other work vehicles 10 (eg, tractors, rice transplanters, etc.).

FIG. 11 shows a display example of the operation screen D2 when the work vehicle 10 is a combine harvester. The combine is provided with a container for containing the harvested material. For example, when the route data for automatic travel of the combine is normally transferred from the operation terminal 20 to the combine, the second display processing unit 217 refers to the display item information Dc (see FIG. 10A) stored in the storage unit 22. Then, the display items C1 and C5 of the display item IDs "C001" and "C005" associated with the page P1 are displayed in the second display area A2 (see FIG. 11A).

When the user presses the right switching icon K1 on the operation screen D2 (see FIG. 11A), the switching processing unit 219 refers to the display item information Dc and selects the display item IDs "C002" and "C005" associated with the page P2. display items C2 and C5 are displayed in the second display area A2 (see FIG. 11B). In this manner, the switching processing unit 219 refers to the display item information Dc and repeatedly switches the display items in the order of pages P1 to P4. Here, like the display item C5, a plurality of "pages" may be associated with one display item (see FIG. 11A). As a result, a specific display item (here, display item C5) can be continuously displayed even if the page is switched. The display item information Dc corresponding to the combine harvester includes at least a display item (here, display item C1) representing the accommodation state (accommodation amount) of the accommodation portion. 11A and 11B, for convenience, the map information displayed in the first display area A1 is shown in the same state as the map information shown in FIG. be done.

For example, if the work vehicle 10 is a rice transplanter, the operation control unit 21 refers to the display item information Dr corresponding to the rice transplanter and causes the second display area A2 to display the display items. FIG. 10B shows an example of the display item information Dr. The display item information Dr includes information of a plurality of display items corresponding to the work content of the rice transplanter (for example, rice planting work). For example, in the display item information Dc, a display item R1 (display item ID "R001") representing the remaining work area of the work area is registered.

FIG. 12 shows a display example of the operation screen D2 when the work vehicle 10 is a rice transplanter. The rice transplanter includes a planting section for planting seedlings. For example, when the route data for automatic travel of the rice transplanter is normally transferred from the operation terminal 20 to the rice transplanter, the second display processing unit 217 outputs the display item information Dr stored in the storage unit 22 (see FIG. 10B). to display the display items R1 and R4 of the display item IDs "R001" and "R004" associated with the page P1 in the second display area A2 (see FIG. 12A).

When the user presses the right switching icon K1 on the operation screen D2 (see FIG. 12A), the switching processing unit 219 refers to the display item information Dr and selects the display item IDs "R002" and "R003" associated with the page P2. display items R2 and R3 are displayed in the second display area A2 (see FIG. 12B). In this manner, the switching processing unit 219 refers to the display item information Dr and repeatedly switches the display items in the order of pages P1 to P3. The display item information Dr corresponding to the rice transplanter includes at least a display item (here, display item R1) representing the remaining work area of the work area. For convenience, FIG. 12 shows the map information displayed in the first display area A1 in the same state as the map information shown in FIG. 6, but actually the map information corresponding to the rice transplanter is displayed. .

As described above, one operation terminal 20 can be commonly used for multiple types of work vehicles 10 . For example, when the operation terminal 20 is used as a tractor, the operation terminal 20 can operate and manage the tractor by storing a management application corresponding to the tractor in the operation terminal 20 . Further, for example, when the operation terminal 20 is used as a combine harvester, the operation terminal 20 can operate and manage the combine by storing a management application corresponding to the combine in the operation terminal 20 . Also, for example, when the operation terminal 20 is used as a rice transplanter, the operation terminal 20 can be used to operate and manage the rice transplanter by storing a management application corresponding to the rice transplanter in the operation terminal 20 .

As another embodiment, the storage unit 22 of the operation terminal 20 may store management applications corresponding to each of a plurality of types of work vehicles 10 . For example, the storage unit 22 of the operation terminal 20 stores a management application corresponding to a tractor, a management application corresponding to a combine, and a management application corresponding to a rice transplanter. In this case, the user selects the type of work vehicle 10 to be used on the selection screen D3 shown in FIG. 13, for example. When the user selects, for example, "tractor" on the selection screen D3, the operation control unit 21 activates the management application corresponding to the tractor stored in the storage unit 22. FIG. As a result, the operation control unit 21 causes the operation display unit 23 to display the operation screen D2 for the tractor shown in FIGS. 6A to 6D. Further, when the user selects, for example, “combine” on the selection screen D3, the operation control unit 21 activates a management application corresponding to the combine stored in the storage unit 22 . Thereby, the operation control unit 21 causes the operation display unit 23 to display an operation screen D2 for a combine harvester, such as those shown in FIGS. 11A and 11B. Also, when the user selects, for example, “rice transplanter” on the selection screen D3, the operation control unit 21 activates the management application corresponding to the rice transplanter stored in the storage unit 22 . As a result, the operation control unit 21 causes the operation display unit 23 to display the operation screen D2 for the rice transplanter shown in FIGS. 12A and 12B.

According to this configuration, a user can easily operate and manage various work vehicles 10 with a single operation terminal 20 . Therefore, even when a user introduces a different type of work vehicle 10, the user can easily operate and manage the work vehicle 10 using the operation terminal 20. FIG. Note that the operation terminal 20 may be capable of downloading a management application for the work vehicle 10 from a website. Further, each management application may be stored in a web server (cloud server), and the operation terminal 20 may access the web server to execute the management application.

As another embodiment, the storage unit 22 may store a plurality of pieces of display item information according to the travel mode of the work vehicle 10 (tractor, combine harvester, rice transplanter, etc.). The travel modes include a travel mode in which the vehicle travels in manned automatic driving, a travel mode in which the vehicle travels in unmanned automatic driving, and a travel mode in which the vehicle travels by automatically steering in a straight line. For example, the operation control unit 21 may set display item information for each type of each traveling mode and store the information in the storage unit 22 . In this case, the operation control unit 21 refers to the display item information corresponding to the type of travel mode selected by the user in the route generation process ("route generation" in FIG. 4), and displays the display items in the second display area A2. or switch the display item.

1: Automatic driving system 10: Work vehicle (tractor, combine, rice transplanter)
14: Working machine 19: PTO shaft 20: Operation terminal (display terminal)
21: operation control unit 22: storage unit 23: operation display unit (display unit)
211: vehicle setting processing unit 212: field setting processing unit 213: work setting processing unit 214: route generation processing unit 215: output processing unit 216: first display processing unit 217: second display processing unit 218: reception processing unit 219: Switching processing unit R: travel route (target route)
A1: First display area A2: Second display area K1: Switching icon (switching section)
C1 to C6: display items R1 to R4: display items T1 to T8: display items

Claims (13)

A display method for displaying information about work by a work vehicle on a display unit of a display terminal,
displaying map information including at least the current position of the work vehicle in a preset first display area of the display unit;
Displaying a display item representing a current work situation of the work vehicle in a second display area set in advance of the display unit;
switching a first display item representing a first work situation displayed in the second display area to a second display item representing a second work situation;
Display method to run. displaying a switching unit for receiving a switching operation from a user to switch the first display item to the second display item, at a position corresponding to the second display area on the display unit;
The display method according to claim 1. When the first display item is displayed in the second display area and the measured value corresponding to the second work situation is out of the allowable range, the first display item is changed to the second display item. switch to
The display method according to claim 1. The display items include a plurality of display items according to the work content of the work vehicle,
causing the second display area to display the first display item corresponding to a first work content by the work vehicle;
The display method according to any one of claims 1 to 3. displaying the first display item selected by the user in the second display area;
The display method according to any one of claims 1 to 4. storing information about the first display item selected by the user in a storage unit;
displaying the first display item in the second display area by referring to the storage unit when displaying the work status of the work vehicle;
The display method according to claim 5. The width of the second display area is set in advance,
displaying a number of the first display items that can be arranged in the width direction in the second display area;
In the second display area, a number of the second display items that can be arranged in the width direction are displayed by switching from the first display items.
The display method according to any one of claims 1 to 6. When the work vehicle is a work vehicle to which a work machine can be attached,
At least one of the first display item and the second display item is a display item representing a measured value related to PTO,
The display method according to any one of claims 1 to 7. When the work vehicle is a work vehicle equipped with a planting unit for planting seedlings,
At least one of the first display item and the second display item is a display item representing the remaining work area of the work area.
The display method according to any one of claims 1 to 7. When the work vehicle is a work vehicle provided with a storage unit for storing harvested products,
At least one of the first display item and the second display item is a display item representing the storage status of the storage unit,
The display method according to any one of claims 1 to 7. at least one of the first display item and the second display item is a display item representing a deviation amount between a target route and a current travel route of the work vehicle;
The display item representing the amount of deviation is a display item common to a plurality of types of the work vehicle,
The display method according to any one of claims 1 to 7. A display terminal for displaying information about work by a work vehicle on a display unit,
a first display processing unit for displaying map information including at least the current position of the work vehicle in a first display area set in advance of the display unit;
a second display processing unit configured to display a display item representing a current work situation of the work vehicle in a preset second display area of the display unit;
a switching processing unit that switches a first display item representing a first work situation displayed in the second display area to a second display item representing a second work situation;
a display terminal. A display program for displaying information about work by a work vehicle on a display unit of a display terminal,
displaying map information including at least the current position of the work vehicle in a preset first display area of the display unit;
Displaying a display item representing a current work situation of the work vehicle in a second display area set in advance of the display unit;
switching a first display item representing a first work situation displayed in the second display area to a second display item representing a second work situation;
A display program for executing on one or more processors.

Images